WO2016167376A1 - 作業車両及び作業車両の制御方法 - Google Patents
作業車両及び作業車両の制御方法 Download PDFInfo
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- WO2016167376A1 WO2016167376A1 PCT/JP2016/066074 JP2016066074W WO2016167376A1 WO 2016167376 A1 WO2016167376 A1 WO 2016167376A1 JP 2016066074 W JP2016066074 W JP 2016066074W WO 2016167376 A1 WO2016167376 A1 WO 2016167376A1
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- WIPO (PCT)
- Prior art keywords
- steering
- unit
- steering angle
- work vehicle
- detector
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
Definitions
- a third calculation unit that obtains a deviation between the target information and the actual steering angle information, and the correction unit includes the third calculation.
- a steering cylinder that operates the steered wheels of the work vehicle by supplying hydraulic oil, a steering member that receives an input for operating the steered wheels, And a steering valve unit that is connected to a steering member and supplies the hydraulic oil to the steering cylinder.
- the method further comprises: controlling a speed of the work vehicle and a steering angle of the steering wheel; When the steering angle of the steered wheel obtained and obtained based on the steering angle is within a predetermined range from neutral, the steered wheel with respect to the manipulated variable of the steering member increases as the speed of the work vehicle increases. Reducing the correction rate for correcting the deviation amount of the actual steering angle information of the steered wheels with respect to the target information which is information of the target steering angle. Your method is provided.
- the vehicle body 3 is mounted with an engine 4 which is an example of an internal combustion engine, a working machine hydraulic pump 9 and a traveling hydraulic pump 10 driven by the engine 4.
- the work machine hydraulic pump 9 and the traveling hydraulic pump 10 are variable displacement pumps.
- the engine 4 is a power source for the forklift.
- the engine 4 is a diesel engine, for example, it is not limited to this.
- the forklift 1 may have an electric motor as a power source instead of the engine 4.
- the work machine 5 includes a fork 6 on which a load is placed, a lift cylinder 7 that moves the fork 6 up and down, and a tilt cylinder 8 that tilts the fork 6.
- the steering valve unit 50 is connected to the handle 14 via the shaft 18. When the handle 14 rotates, the steering valve unit 50 is operated.
- the steering valve unit 50 is a device in which a manual direction switching valve and a metering mechanism with servo feedback are integrated.
- the steering valve unit 50 operates the steering cylinder 60 by supplying the hydraulic oil supplied from the hydraulic pump 56 to the steering cylinder 60.
- the steering cylinder 60 operates, the steered wheels 2b and 2b operate.
- the steering valve unit 50 operates the steered wheels 2b and 2b via the steering cylinder 60.
- the amount of operation of the handle 14 is detected by a handle angle sensor 13 which is a first detector.
- the handle angle sensor 13 detects the rotation angle of the handle 14 when the handle 14 rotates about the shaft 18.
- the rotation angle of the handle 14 detected by the handle angle sensor 13 is the operation amount of the handle 14.
- the handle angle sensor 13 is connected to the control device 20.
- the control device 20 acquires the detection value of the handle angle sensor 13 and uses it in the work machine control method according to the embodiment.
- the work machine control method according to the embodiment is a method of correcting the position of the knob 16 when the forklift 1 goes straight.
- the steering valve unit 50 and the steering cylinder 60 are connected by a first hydraulic fluid passage 54 and a second hydraulic fluid passage 55.
- the first hydraulic fluid passage 54 is connected to the first hydraulic fluid chamber 60L of the steering cylinder 60
- the second hydraulic fluid passage 55 is connected to the second hydraulic fluid chamber 60R of the steering cylinder 60.
- the first hydraulic oil passage 54 is connected to the L port of the steering valve unit 50.
- the second hydraulic oil passage 55 is connected to the R port of the steering valve unit 50.
- the hydraulic fluid When the hydraulic fluid is supplied to the first hydraulic fluid chamber 60L, the hydraulic fluid is discharged from the second hydraulic fluid chamber 60R.
- the cylinder rod 62 When hydraulic fluid is supplied to the first hydraulic fluid chamber 60L, the cylinder rod 62 is drawn into the first hydraulic fluid chamber 60L, and the cylinder rod 62 protrudes from the second hydraulic fluid chamber 60R.
- the cylinder rod 62 When hydraulic fluid is supplied to the second hydraulic fluid chamber 60R, the cylinder rod 62 is drawn into the second hydraulic fluid chamber 60R, and the cylinder rod 62 protrudes from the first hydraulic fluid chamber 60L.
- the operation amount of the steering cylinder 60 is detected by a stroke sensor 61 which is an operation amount detector.
- the stroke sensor 61 is connected to the control device 20.
- the control apparatus 20 acquires the detection value of the stroke sensor 61, and uses it for the control method of the working machine which concerns on embodiment.
- the steering angle ⁇ is detected by a steering angle sensor 17 that is a second detector.
- the steering angle sensor 17 is connected to the control device 20.
- the control apparatus 20 acquires the detection value of the steering angle sensor 17, and uses it for the control method of the working machine which concerns on embodiment.
- the steering angle sensor 17 detects the steering angle ⁇ of one steered wheel 2b.
- the right steering wheel 2b and the left steering wheel 2b have different steering angles ⁇ when operated in the same direction, but the control device 20 controls one steering angle in the control. ⁇ may be used.
- the direction in which the steered wheel 2b is steered is distinguished by, for example, whether the difference between the current value and the previous value of the voltage Ed output from the steering angle sensor 17 is positive or negative. Specifically, when the difference between the current value and the previous value of the voltage Ed is positive, the steering direction of the steered wheel 2b is rightward, and the difference between the current value and the previous value of the voltage Ed is negative. The steering direction of the steering wheel 2b is the left direction.
- the solenoid valve 19 is provided in the hydraulic oil supply passage 52.
- the solenoid valve 19 is switched between an open state and a closed state by the control device 20.
- the solenoid valve 19 is opened, the hydraulic oil is supplied from the hydraulic pump 56 to the steering valve unit 50 through the hydraulic oil supply passage 52.
- the solenoid valve 19 is closed, the supply of hydraulic oil from the hydraulic pump 56 to the steering valve unit 50 is stopped.
- the ratio of the opening time and closing time of the solenoid valve 19, that is, the duty ratio the amount of hydraulic oil supplied from the hydraulic pump 56 to the steering valve unit 50 is changed.
- the steering valve unit 50 When the steering valve unit 50 receives an input from the handle 14, the steering valve unit 50 supplies hydraulic oil to the steering cylinder 60.
- the solenoid valve 19 When the solenoid valve 19 is opened and closed at this timing, the amount of hydraulic oil supplied from the hydraulic pump 56 to the steering valve unit 50 is changed, so that the amount of hydraulic oil supplied to the steering cylinder 60 is changed. As described above, the solenoid valve 19 adjusts the amount of hydraulic oil supplied to the steering cylinder 60.
- FIG. 5 is a control block diagram of the control device 20.
- the control device 20 includes a first calculation unit 21, a second calculation unit 22, a correction unit 25, and an adjustment unit 26.
- the first calculation unit 21 obtains target information that is information on the steering angle ⁇ that is the target of the steered wheel 2 b with respect to the rotation angle ⁇ hr of the handle 14 detected by the handle angle sensor 13.
- the second calculation unit 22 obtains actual steering angle information that is information corresponding to the actual steering angle ⁇ tr of the steered wheels 2b detected by the steering angle sensor 17.
- the correction unit 25 corrects the deviation amount of the actual steering angle information with respect to the target information.
- the target information determination table TB1 describes the relationship between the rotation angle ⁇ hr of the handle 14 and the target stroke St of the steering cylinder 60.
- the target stroke St is target information.
- the target information determination table TB1 outputs the target stroke St of the steering cylinder 60 corresponding to the multiplication result of the multiplication unit 21P to the third calculation unit 23.
- the solenoid valve 19 is provided in the hydraulic oil supply passage 52, but the solenoid valve 19 may be arranged as long as the amount of hydraulic oil supplied to the steering cylinder 60 can be adjusted.
- the first hydraulic fluid passage 54 and the second hydraulic fluid passage 55 may be connected by a passage, and the solenoid valve 19 may be provided in the passage.
- the number of steering cylinders 60 is one, but the number of steering cylinders 60 is not limited as long as the steering wheels 2b and 2b can be operated.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
図1は、実施形態に係る作業車両の全体構成を示す図である。以下においては、作業車両としてフォークリフト1を例として説明するが、作業車両はフォークリフトに限定されない。フォークリフト1は、駆動輪2a及び操向輪2bを有した車体3と、作業機5と、制御装置20とを有する。フォークリフト1は、運転席12から操舵部材であるハンドル14へ向かう側が前であり、ハンドル14から運転席12へ向かう側が後である。作業機5は、車体3の前方に設けられる。
図5は、制御装置20の制御ブロック図である。制御装置20は、第1の演算部21と、第2の演算部22と、補正部25と、調整部26と、を含む。第1の演算部21は、ハンドル角センサ13によって検出されたハンドル14の回転角度θhrに対する、操向輪2bの目標とする操舵角度βの情報である目標情報を求める。第2の演算部22は、操舵角度センサ17によって検出された、操向輪2bの実操舵角度βtrに対応した情報である実操舵角度情報を求める。補正部25は、目標情報に対する実操舵角度情報のずれ量を補正する。調整部26は、車速センサ15によって検出されたフォークリフト1の速度が閾値以上である場合において、操向輪2bの操舵角度が中立から所定範囲にあることを操舵角度センサ17が検出した場合には、補正部25によるずれ量の補正率Drを小さくする。
2b 操向輪
3 車体
5 作業機
13 ハンドル角センサ
14 ハンドル
15 車速センサ
16 ノブ
17 操舵角度センサ
19 ソレノイド弁
20 制御装置
21 第1演算部
21P 乗算部
21R 定数付与部
22 第2演算部
23 第3の演算部
24 前処理部
25 補正部
26 調整部
27 切替部
30 操舵システム
50 ステアリングバルブユニット
51 作動油タンク
52 作動油供給通路
53 作動油回収通路
54 第1作動油通路
55 第2作動油通路
56 油圧ポンプ
60 ステアリングシリンダ
61 ストロークセンサ
Cnc 補正指令値
Dr 補正率
G ゲイン
Sr 実ストローク
St 目標ストローク
STh 操作状態
TB1 目標情報決定テーブル
TB2 実操舵角度情報決定テーブル
TB1,TB2 テーブル
Claims (7)
- 作動油が供給されることによって、作業車両の操向輪を動作させるステアリングシリンダと、
前記操向輪を動作させるための入力を受け付ける操舵部材と、
前記操舵部材と連結されており、前記ステアリングシリンダに前記作動油を供給するステアリングバルブユニットと、
前記操舵部材の操作量を検出する第1の検出器と、
前記操向輪の操舵角度を検出する第2の検出器と、
前記作業車両の速度を検出する第3の検出器と、
前記第1の検出器によって検出された前記操舵部材の操作量に対する前記操向輪の目標とする操舵角度の情報である目標情報を求める第1の演算部と、
前記第2の検出器によって検出された、前記操向輪の実操舵角度に対応した情報である実操舵角度情報を求める第2の演算部と、
前記目標情報と前記実操舵角度情報との間のずれ量を補正する補正部と、
前記操向輪の操舵角度が中立から所定範囲にあることを前記第2の検出器が検出した場合には、前記第3の検出器によって検出された前記作業車両の速度が大きくなると、前記補正部による前記ずれ量の補正率を小さくする調整部と、
を含む、作業車両。 - 前記目標情報と前記実操舵角度情報との偏差を求める第3の演算部を有し、
前記補正部は、前記第3の演算部によって求められた前記偏差に応じて前記補正率を変化させる、請求項1に記載の作業車両。 - 前記目標情報は、前記第1の検出器によって検出された前記操舵部材の操作量に対する前記ステアリングシリンダの目標ストロークであり、前記実操舵角度情報は、前記実操舵角度に対する前記ステアリングシリンダの実ストロークである、請求項1又は請求項2に記載の作業車両。
- 前記ステアリングシリンダに供給される前記作動油の量を調整する調整装置を有し、
前記補正部は、前記調整装置を制御して前記ステアリングシリンダに供給される前記作動油の量を変更する、請求項1から請求項3のいずれか1項に記載の作業車両。 - 前記第1の検出器によって検出された前記操舵部材の操作量に対する前記目標情報は、前記ステアリングバルブユニットが前記ステアリングシリンダに供給する作動油の供給量のばらつきの上限値を用いて求められる、請求項1から請求項4のいずれか1項に記載の作業車両。
- 前記調整部は、前記閾値以上において前記補正率を線形的に変化させる、請求項1から請求項5のいずれか1項に記載の作業車両。
- 作動油が供給されることによって、作業車両の操向輪を動作させるステアリングシリンダと、前記操向輪を動作させるための入力を受け付ける操舵部材と、前記操舵部材と連結されており、前記ステアリングシリンダに前記作動油を供給するステアリングバルブユニットと、
を備えた作業車両を制御する方法であって、
前記作業車両の速度及び前記操向輪の操舵角度を取得し、
前記操舵角度に基づいて得られた前記操向輪の操舵角度が中立から所定範囲にある場合には、前記作業車両の速度が大きくなると、前記操舵部材の操作量に対する前記操向輪の目標とする操舵角度の情報である目標情報に対する前記操向輪の実操舵角度情報のずれ量を補正するための補正率を小さくすることと、
を含む、作業車両の制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/066074 WO2016167376A1 (ja) | 2016-05-31 | 2016-05-31 | 作業車両及び作業車両の制御方法 |
CN201680002095.8A CN106794866A (zh) | 2016-05-31 | 2016-05-31 | 作业车辆以及作业车辆的控制方法 |
US15/509,965 US20170341915A1 (en) | 2016-05-31 | 2016-05-31 | Work vehicle and work vehicle control method |
DE112016000081.2T DE112016000081T5 (de) | 2016-05-31 | 2016-05-31 | Arbeitsfahrzeug und Arbeitsfahrzeugsteuerverfahren |
JP2016546866A JP6640096B2 (ja) | 2016-05-31 | 2016-05-31 | 作業車両及び作業車両の制御方法 |
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PCT/JP2016/066074 WO2016167376A1 (ja) | 2016-05-31 | 2016-05-31 | 作業車両及び作業車両の制御方法 |
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WO2016167376A1 true WO2016167376A1 (ja) | 2016-10-20 |
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US (1) | US20170341915A1 (ja) |
JP (1) | JP6640096B2 (ja) |
CN (1) | CN106794866A (ja) |
DE (1) | DE112016000081T5 (ja) |
WO (1) | WO2016167376A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2019172241A1 (ja) * | 2018-03-05 | 2019-09-12 | いすゞ自動車株式会社 | 制御装置及び制御方法 |
Families Citing this family (7)
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JP7110787B2 (ja) * | 2018-07-23 | 2022-08-02 | 株式会社ジェイテクト | 操舵制御装置 |
FI128300B (en) * | 2018-09-03 | 2020-03-13 | Rocla Oyj | Truck control |
CN109466625B (zh) * | 2018-09-28 | 2021-02-05 | 中国铁建重工集团股份有限公司 | 一种电液控制的转向系统 |
CN111216622B (zh) * | 2018-11-26 | 2022-12-20 | 宇通客车股份有限公司 | 一种基于车轮转角的转向灯控制方法及装置 |
CN110294015B (zh) * | 2019-07-19 | 2021-03-23 | 山东浩睿智能科技有限公司 | 一种车辆转向控制系统 |
CN112938830A (zh) * | 2021-02-24 | 2021-06-11 | 安徽合力股份有限公司 | 一种双驱电动叉车的控制方法 |
CN113428224A (zh) * | 2021-07-05 | 2021-09-24 | 南京晨光森田环保科技有限公司 | 一种车辆转向角度标定装置 |
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JPH10287251A (ja) * | 1997-04-15 | 1998-10-27 | Toyota Autom Loom Works Ltd | 産業車両のハンドル角補正装置及び産業車両 |
JPH10297513A (ja) * | 1997-04-24 | 1998-11-10 | Toyota Autom Loom Works Ltd | 産業車両のハンドル角補正装置及び産業車両 |
JP2001180508A (ja) * | 1999-12-27 | 2001-07-03 | Toyota Autom Loom Works Ltd | パワーステアリングバルブ |
-
2016
- 2016-05-31 JP JP2016546866A patent/JP6640096B2/ja active Active
- 2016-05-31 DE DE112016000081.2T patent/DE112016000081T5/de not_active Withdrawn
- 2016-05-31 WO PCT/JP2016/066074 patent/WO2016167376A1/ja active Application Filing
- 2016-05-31 US US15/509,965 patent/US20170341915A1/en not_active Abandoned
- 2016-05-31 CN CN201680002095.8A patent/CN106794866A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10287251A (ja) * | 1997-04-15 | 1998-10-27 | Toyota Autom Loom Works Ltd | 産業車両のハンドル角補正装置及び産業車両 |
JPH10297513A (ja) * | 1997-04-24 | 1998-11-10 | Toyota Autom Loom Works Ltd | 産業車両のハンドル角補正装置及び産業車両 |
JP2001180508A (ja) * | 1999-12-27 | 2001-07-03 | Toyota Autom Loom Works Ltd | パワーステアリングバルブ |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019172241A1 (ja) * | 2018-03-05 | 2019-09-12 | いすゞ自動車株式会社 | 制御装置及び制御方法 |
JP2019151243A (ja) * | 2018-03-05 | 2019-09-12 | いすゞ自動車株式会社 | 制御装置及び制御方法 |
US11643142B2 (en) | 2018-03-05 | 2023-05-09 | Isuzu Motors Limited | Control device and control method |
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DE112016000081T5 (de) | 2017-04-06 |
US20170341915A1 (en) | 2017-11-30 |
JPWO2016167376A1 (ja) | 2018-11-29 |
JP6640096B2 (ja) | 2020-02-05 |
CN106794866A (zh) | 2017-05-31 |
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